Troubleshooting
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      Fanuc: Recovering from Payload Errors (on a collaborative robot)

      When using your collaborative robot, you might see warnings or errors related to payload.

      Some of the warnings or errors that you may see are:

      • SYST-320: Program paused by contact stop
      • SYST-324: Payload change over distance
      • SYST-325: Payload error is detected
      • SYST-348: Payload Monitor (Force) warning
      • SYST-349: Payload Monitor (Moment) warning
      • SYST-350: Force Monitor warning

       

      First try confirming the payload.

      1. Go to the DCS screen by pressing the MENU button, NEXT (0), SYSTEM (6), and then DCS.
      2. Enter the DCS Collaborative robot screen. 
      3. Press CONFIRM (F2) to confirm the collaborative DCS settings.
      4. Enter the password (default: 1111) and follow the prompts by answering YES (F4). 
      5. Press RESET to clear the payload warning.

      DCS_coll_robot_confirm_password

       

      If that didn't work, make sure that you've waited at least 30 minutes after turning on the robot.

      FANUC CR-series robots require a “warming up” period for up to 30 minutes when you turn them on after a prolonged period of time of being off (over an hour). CR-series robots contain a force sensor in the base of the robot. During the warmup period, this force sensor physically heats up, which causes the sensor readings to drift. After 30 minutes, this effect subsides and the robot can properly zero its force sensor. 

      Until the robot finishes zeroing the force sensor, it must not be in contact with any object or individual.  
       

       

      If that didn't work, check if you are using accurate payloads in Device Configuration.

      In Device Configuration, Edit your robot device to add or modify your payloads.

       select-robot-to-edit
       
      In Task Canvas, use the Set TCP/Payload block to reference the correct payload.

      Each time you add new Tool Center Points (TCPs) or Payloads in Forge/OS, you must apply the DCS settings on the FANUC pendant. 

       

       

      If that doesn't resolve the issue, try decreasing the ForgeOS speed. If the robot is moving too fast, it is more prone to premature payload errors. 

       

       

      If you need to run at a fast speed, try changing the robot's sensitivity level. 

      Only change the robot's sensitivity level if your risk assessment permits it.

       

      1. Press the MENU button.
      2. Enter 6 SETUP.
      3. Enter 3 Coll Guard.
      4. Define the Sensitivity level.

      A higher sensitivity level requires a higher payload accuracy (with a smaller margin of variation). Restart the robot controller to apply the change.

      collab guard